C:/Documents and Settings/gw/My Documents/Other projects/flightos/Modules/matrixkinematics.h

Go to the documentation of this file.

/*
  Copyright (c) 2010 Les Newell. All rights reserved

  This program is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.

  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  GNU General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with this program. If not, see <http://www.gnu.org/licenses/>.
*/



//Tricopter with yaw arm at the rear
#ifdef MATRIX_TRICOPTER_YAWTAIL
#define MATRIX_TRICOPTER
#define MATRIX_OUTPUTS 4
#define USE_YAW_COMPENSATION

//Note the offset is 0 for a servo (zero in the middle) and -1
//for a motor (zero at min pulse width)
//Note the offset is 0 for a servo (zero in the middle) and -1
//for a motor (zero at min pulse width)

//Throttle needs to be double because normal throttle range is 0 to +1 instead of -1 to +1
//as with pitch, roll, yaw. The final output range is -1 to +1
const float matrixGains[MATRIX_OUTPUTS][MAX_COMMANDS + 2]=
{
// pitch   roll    yaw  throttle  offset  yaw compensation
    {0      ,0      ,-1     ,0      ,0      ,0}, //Yaw servo
    {-0.25  ,0      ,0      ,0.9   ,-1      ,0.1}, //Yaw motor
    {0.125  ,0.216  ,0      ,0.9   ,-1      ,0}, //Right motor
    {0.125  ,-0.216 ,0      ,0.9   ,-1      ,0}, //Left motor
};
#endif

//Tricopter with yaw arm at the rear
#ifdef MATRIX_TRICOPTER_YAWFRONT
#define MATRIX_TRICOPTER
#define MATRIX_OUTPUTS 4
#define USE_YAW_COMPENSATION

//Note the offset is 0 for a servo (zero in the middle) and -1
//for a motor (zero at min pulse width)

//Throttle needs to be double because normal throttle range is 0 to +1 instead of -1 to +1
//as with pitch, roll, yaw. The final output range is -1 to +1
const float matrixGains[MATRIX_OUTPUTS][MAX_COMMANDS + 2]=
{
// pitch   roll    yaw  throttle  offset yaw compensation
    {0       ,0      ,1      ,0      ,0    ,0}, //Yaw servo
    {0.25    ,0      ,0      ,0.9   ,-1    ,0.1}, //Yaw motor
    {-0.125  ,-0.216 ,0      ,0.9   ,-1    ,0}, //Right motor
    {-0.125  ,0.216  ,0      ,0.9   ,-1    ,0}, //Left motor
};
#endif

#ifdef MATRIX_TRICOPTER
//Outputs when the craft is disarmed. Remember -1 is min output.
const float motorDisarmed[MATRIX_OUTPUTS]=
{
    0,//Yaw servo
    -1,//yaw motor
    -1,
    -1,
};

const char matrixServo0[] PROGMEM = "Servo.1";
const char matrixServo1[] PROGMEM = "FastServo.1";
const char matrixServo2[] PROGMEM = "FastServo.2";
const char matrixServo3[] PROGMEM = "FastServo.3";

const char * matrixServos[MATRIX_OUTPUTS]={
    matrixServo0,
    matrixServo1,
    matrixServo2,
    matrixServo3,
};

#endif


#ifdef MATRIX_QUAD_X
#define MATRIX_QUAD
#define MATRIX_OUTPUTS 4

//Note the offset is 0 for a servo (zero in the middle) and -1
//for a motor (zero at min pulse width)

//Throttle needs to be double because normal throttle range is 0 to +1 instead of -1 to +1
//as with pitch, roll, yaw. The final output range is -1 to +1
const float matrixGains[MATRIX_OUTPUTS][MAX_COMMANDS + 1]=
{
// pitch   roll    yaw  throttle  offset
    {0.5    ,0.5    ,0.5    ,1.8   ,-1  }, //Front left motor (CW)
    {0.5    ,-0.5   ,-0.5   ,1.8   ,-1  }, //Front right motor(CCW)
    {-0.5  ,-0.5    ,0.5    ,1.8   ,-1  }, //rear right motor (CW)
    {-0.5   ,0.5    ,-0.5   ,1.8   ,-1  }, //Rear left motor  (CCW)
};

#endif

#ifdef MATRIX_QUAD_PLUS
#define MATRIX_QUAD
#define MATRIX_OUTPUTS 4

//Note the offset is 0 for a servo (zero in the middle) and -1
//for a motor (zero at min pulse width)

//Throttle needs to be double because normal throttle range is 0 to +1 instead of -1 to +1
//as with pitch, roll, yaw. The final output range is -1 to +1
const float matrixGains[MATRIX_OUTPUTS][MAX_COMMANDS + 1]=
{
// pitch   roll    yaw  throttle  offset
    {1      ,0      ,0.5    ,1.8   ,-1  }, //Front motor (CW)
    {0      ,-1     ,-0.5   ,1.8   ,-1  }, //Right  motor(CCW)
    {-1     ,0      ,0.5    ,1.8   ,-1  }, //Rear motor  (CW)
    {0      ,1      ,-0.5   ,1.8   ,-1  }, //Left motor  (CCW)
};

#endif


#ifdef MATRIX_QUAD
//Outputs when the craft is disarmed. Remember -1 is min output.
const float motorDisarmed[MATRIX_OUTPUTS]=
{
    -1,
    -1,
    -1,
    -1,
};

const char matrixServo0[] PROGMEM = "FastServo.1";
const char matrixServo1[] PROGMEM = "FastServo.2";
const char matrixServo2[] PROGMEM = "FastServo.3";
const char matrixServo3[] PROGMEM = "FastServo.4";

const char * matrixServos[MATRIX_OUTPUTS]={
    matrixServo0,
    matrixServo1,
    matrixServo2,
    matrixServo3,
};

#endif


#include "kinematics.h"